Development and validation of a motion dictionary to create emotional gestures for the nao robot

Social robots are becoming increasingly present in our daily lives and will continue to be integrated into society to help people with their daily routines. In this paper, we create a general motion dictionary for the NAO robot, to generate emotional gestures when the robot is interacting with humans. We implemented the motions in the context of a museum setting, wherein NAO interacts with visitors as a guide. We present a Motion Dictionary which integrates each gesture's features and the corresponding emotions. By using the Choregraphe simulator to create the motions and validate them with a real robot, we intend to simplify and help with the generation of emotional gestures for human-robot interaction.